CN108039841B - The degree of advance self-adaptation control method and system of double salient-pole electric machine drive system - Google Patents
The degree of advance self-adaptation control method and system of double salient-pole electric machine drive system Download PDFInfo
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- CN108039841B CN108039841B CN201810001041.0A CN201810001041A CN108039841B CN 108039841 B CN108039841 B CN 108039841B CN 201810001041 A CN201810001041 A CN 201810001041A CN 108039841 B CN108039841 B CN 108039841B
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Classifications
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/14—Electronic commutators
- H02P6/15—Controlling commutation time
- H02P6/153—Controlling commutation time wherein the commutation is advanced from position signals phase in function of the speed
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/14—Electronic commutators
- H02P6/16—Circuit arrangements for detecting position
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P2203/00—Indexing scheme relating to controlling arrangements characterised by the means for detecting the position of the rotor
- H02P2203/03—Determination of the rotor position, e.g. initial rotor position, during standstill or low speed operation
Abstract
The invention discloses the degree of advance self-adaptation control methods and system of double salient-pole electric machine drive system.According to the deviation of maximum feedback electric current and current reference value in angle range in advance come the degree of advance in automatic adjusument next electric period: when maximum feedback electric current is less than current reference value, increasing the degree of advance in next electric period；When maximum feedback electric current is greater than current reference value, reduce the degree of advance in next electric period；The incremental computations of degree of advance use iterative algorithm, estimate the advance angle angle value in next electric period according to the deviation of maximum feedback electric current and current reference value in angle range in advance using the advance angle angle value in current electric period.The present invention has searched out method for controlling advance angle that is a kind of convenient and efficient, and can automatically adjusting with operating condition to increase output torque as target.
Description
Technical field
The invention belongs to Motor Control Fields, in particular to the degree of advance of double salient-pole electric machine drive system is self-adaptive controlled
Method and system processed.
Background technique
Double salient-pole electric machine has many advantages, such as high power density since, without winding, structure is simple, high reliablity on rotor,
It is had broad application prospects in fields such as aviation starting/generating system, wind generator system, drive system of electric automobile, by
Extensive concern and the further investigation of domestic and foreign scholars are arrived.
Double salient-pole electric machine generallys use advanced angle control mode, by turning on and off in advance when high speed is run
Power tube in power inverter increases the virtual value of armature supply, to improve the output torque of motor.Degree of advance
Value has important influence to motor output torque, and degree of advance is too small or big city excessively causes output torque to decline.So
And lack conveniently degree of advance choosing method at present, it is chosen generally according to a large amount of simulation analysis result, this method work
Work amount is big, and time-consuming, once and operation conditions change, then selected degree of advance is no longer applicable in.
Summary of the invention
In order to solve the technical issues of above-mentioned background technique proposes, the present invention is intended to provide double salient-pole electric machine drive system
Degree of advance self-adaptation control method and system can automatically adjust degree of advance with operating condition, increase output torque.
In order to achieve the above technical purposes, the technical solution of the present invention is as follows:
A kind of degree of advance self-adaptation control method of double salient-pole electric machine drive system, according to maximum anti-in angle range in advance
The deviation of supply current and current reference value carrys out the degree of advance in automatic adjusument next electric period: when maximum feedback electric current is less than
When current reference value, increase the degree of advance in next electric period；When maximum feedback electric current is greater than current reference value, under reduction
The degree of advance in one electric period；The incremental computations of degree of advance use iterative algorithm, utilize the degree of advance in current electric period
Value estimates the degree of advance in next electric period according to the deviation of maximum feedback electric current and current reference value in angle range in advance
Value.
Further, the increment of degree of advance increases with the increase of maximum feedback electric current and the deviation of current reference value
Greatly, reduce and reduce.
Further, different degree of advance is provided each commutating period respectively, according to the commutating period being presently in
Rotation uses different degree of advance as the value of current time degree of advance.
Further, the specific steps are as follows:
(1) threephase armature electric current and motor rotor position are detected；
(2) it if rotor-position is in degree of advance section, is calculated according to threephase armature electric current anti-in advance angle section
The maximum value of supply current；
(3) it if rotor-position is in non-pre-published angle range, is selected according to section locating for rotor-position to be calculated
Adaptive degree of advance；If rotor-position is in [alpha+beta, 120 °] at this time, then advance angle used in the 1st commutation section is calculated
Spend α1；If rotor-position in [120 °+alpha+beta, 240 °], then calculates the degree of advance α in the 2nd commutation section2；If rotor-position
[240 °+alpha+beta, 360 °) in, then calculate the degree of advance α in the 3rd commutation section3；Wherein, α is shifting to an earlier date for self adaptive control
Angle, β are constant low-angle value, and alpha+beta is the degree of advance of relative standard's commutation point when inverter down tube is switched on or off；
(4) as step (3) calculated value αjIn preset degree of advance range [0, αmax] when, then by the calculating of step (3)
Value αjAs the value of degree of advance, otherwise take neighbouring critical value as the value of degree of advance；Wherein, αmaxIt is preset
Degree of advance maximum value, j=1,2,3.
Further, in step (3), if mod (θ, 120 °) ∈ [alpha+beta, 120 °), then illustrate that rotor-position is in non-and mentions
In preceding angle range, wherein θ is rotor-position, and mod () indicates complementation of being divided by.
Further, in step (3), αjCalculation formula it is as follows:
αj(m+1)=αj(m)+K[i*-ibk.max(m)]
In above formula, αj(m) and αj(m+1) it is respectively the m times and α that the m+1 times iteration obtainsjValue, ibk.maxIt (m) is feedback
The maximum value of electric current, i*For current reference value, K is the coefficient of item of adding up in iterative algorithm, j=1,2,3.
Further, in step (4), as step (3) calculated value αjBeyond preset degree of advance range [0, αmax]
When, if αj< 0, then enabling advance angle angle value is 0, and otherwise enabling advance angle angle value is αmax。
A kind of degree of advance adaptive control system of double salient-pole electric machine drive system, including rotational speed governor, electric current control
Device processed, phase change logic operation module, power tube drive circuit, PWM inverter, degree of advance adaptive controller, feedback current
Computing module, rotary transformer and position decoding device；The output of rotational speed governor is as armature supply reference value；Current controller
According to the deviation of current feedback electric current and armature supply reference value, current chopping signal is obtained；Phase change logic operation module according to
Current chopping signal and phase change logic are carried out logical AND behaviour by the value of degree of advance and the phase change logic of angle control strategy
Make, obtains the on-off control signal of power tube；Power tube drive circuit controls signal according to the on-off of power tube and exports PWM inversion
The driving signal of power tube in device；Degree of advance adaptive controller utilizes the degree of advance in current electric period, according to advance angle
The deviation of section internal feedback current maxima and armature supply reference value is spent, the advance angle in next electric period is iterated to calculate
Degree；Feedback current computing module calculates current feedback electric current according to threephase armature current value；Rotary transformer detects rotor-position
Information, the analog quantity that position decoding device detects rotary transformer is converted to digital quantity, and obtains rotor speed, will measure
Input of the deviation of the rotor speed and desired revolving speed that arrive as rotational speed governor.
By adopting the above technical scheme bring the utility model has the advantages that
(1) in the present invention, degree of advance can be automatically adjusted according to operating condition, it is no longer necessary to a large amount of simulation analysis
As a result it chooses；
(2) in the present invention, to increase output torque as target, motor output torque is big for the control of degree of advance；
(3) in the present invention, the method that multiple degree of advance rotations use being capable of armature supply between balanced commutating period
And output torque.
Detailed description of the invention
Fig. 1 is double salient-pole electric machine drive system main circuit topology figure according to the present invention；
Fig. 2 is driving logic chart of the double salient-pole electric machine involved in the present invention using power tube when advanced angle control；
Fig. 3 is the structural block diagram of the degree of advance self adaptive control of double salient-pole electric machine drive system involved in the present invention；
Fig. 4 is the flow chart of the degree of advance self adaptive control of double salient-pole electric machine drive system involved in the present invention；
Fig. 5 is multiple when being the degree of advance adaptive control technology using double salient-pole electric machine drive system involved in the present invention
Degree of advance simulation waveform；
Three-phase when Fig. 6 is the degree of advance adaptive control technology using double salient-pole electric machine drive system involved in the present invention
Armature supply simulation waveform.
Specific embodiment
Below with reference to attached drawing, technical solution of the present invention is described in detail.
Fig. 1 be double salient-pole electric machine drive system main circuit topology figure of the present invention, including three-phase bridge inverter and
Double salient-pole electric machine.In figure, Q1~Q6For the power tube of three-phase bridge inverter, it to be used for copped wave and commutation；D1~D6Respectively Q1~
Q6Anti-paralleled diode, be used for afterflow；ea~ecThe respectively three-phase windings inverse electromotive force of double salient-pole electric machine.
Fig. 2 is the driving logic chart of power tube when double salient-pole electric machine uses advanced angle control.The base of advanced angle control
This thought is as follows: any time always have the power tube in three-phase bridge both with respect to standard commutation point shift to an earlier date certain angle switch and
Shutdown.In figure, abscissa be the corresponding electrical angle of rotor-position, range be [0 °, 360 °)；Electrical angle be 0 °, 120 °, 240 °
Rotor-position is known as standard commutation point position；Laf、Lbf、LcfThe letter of mutual inductance respectively between threephase armature winding and excitation winding
Change waveform；VQ1~VQ6Power tube Q respectively on bridge converter1~Q6Driving logical waveform；α is switched on or off for upper tube
When degree of advance relative to standard commutation point；The degree of advance of relative standard's commutation point when alpha+beta is switched on or off for down tube.When
It is three condition advanced angle control when α > 0, β=0；Work as α > 0, is six state advanced angle controls when β > 0.Degree of advance from
In suitable solution, α is the controlled volume of degree of advance self adaptive control, and β takes lesser steady state value.
Fig. 3 is the structural block diagram of the degree of advance self adaptive control of double salient-pole electric machine drive system involved in the present invention, packet
Include rotational speed governor 1, current controller 2, phase change logic operation module 3, power tube drive circuit 4, DC power supply 5, PWM inversion
Device 6, degree of advance adaptive controller 7, feedback current computing module 8, double salient-pole electric machine 9, rotary transformer 10, position decoding
Device 11.Wherein, reference value of the output of rotational speed governor 1 as armature supply；Current controller 2 according to current feedback electric current with
The deviation of current reference value obtains current chopping signal；Phase change logic operation module 3 is according to the value and angle control of degree of advance
Current chopping signal and phase change logic are carried out logical AND operation by the phase change logic for making strategy, obtain the on-off control of power tube
Signal；The driving signal of 4 output power pipe of power tube drive circuit；Degree of advance adaptive controller 7 utilizes the current electric period
Degree of advance next electricity week is iterated to calculate according to the deviation of degree of advance section internal feedback electric current and current reference value
The degree of advance of phase；Feedback current computing module 8 calculates current feedback electric current according to the size of sample rate current；Rotary transformer 10
For detecting rotor position information；The analog quantity that rotary transformer 10 detects is converted to digital quantity by position decoding device 11.It will
Measure input of the deviation of obtained rotor speed and desired revolving speed as rotational speed governor.
Fig. 4 is the flow chart of the degree of advance self adaptive control of double salient-pole electric machine drive system involved in the present invention.Wherein,
θ is the corresponding electrical angle of current motor rotor-position；α is the degree of advance of self adaptive control；αmaxMost for preset degree of advance
Big value；ibkFor feedback current, ibk.maxFor the maximum value of degree of advance section internal feedback electric current；α1、α2、α3Respectively one electricity week
The degree of advance of continuous 3 commutating periods, calculation expression are as follows in phase:
αj(m+1)=αj(m)+K[i*-ibk.max(m)] (1) (j=1,2,3)
In above formula, αj(m) and αjIt (m+1) is respectively the m times α being calculatedjValue, the m+1 times α being calculatedjValue.K is repeatedly
For the coefficient for the item that adds up in algorithm；i*For current reference value.
From fig. 4, it can be seen that the implementation process of degree of advance self adaptive control is as follows: detection threephase armature electric current and motor first
Rotor；When rotor-position is in degree of advance section, the maximum value for shifting to an earlier date angle range internal feedback electric current is calculated；If in non-
In advance in angle range, then adaptive degree of advance to be calculated is selected according to section locating for rotor-position.If rotor at this time
Position then calculates degree of advance α used in first commutation section in [alpha+beta, 120 °]1；If rotor-position [120 ° of+α+
β, 240 °] in, then calculate the degree of advance α in second commutation section2；If rotor-position [240 °+alpha+beta, 360 °) in, then count
Calculate the degree of advance α in third commutation section3.The calculation formula of degree of advance is such as shown in (1).It is arrived when being calculated according to formula (1)
Degree of advance be not above preset degree of advance range [0, αmax] when, then the calculated value of formula (1) is degree of advance
Otherwise α value takes neighbouring critical value as the value of degree of advance.
When Fig. 5 is the degree of advance adaptive control technology using double salient-pole electric machine drive system involved in the present invention, certain
The simulation waveform of multiple degree of advance of double salient-pole electric machine drive system.Simulated conditions are as follows: busbar voltage UdcFor 120V, electricity
Machine revolving speed 10000rpm, current reference value 40A.In figure, α1、α2、α3Continuous 3 commutating periods in respectively one electric period
Degree of advance；α is the degree of advance actually used in control process.As it can be seen that under degree of advance adaptive control technology, double-salient-pole
The degree of advance of motor driven systems can be automatically adjusted according to current flow.
When Fig. 6 is the degree of advance adaptive control technology using double salient-pole electric machine drive system involved in the present invention, certain
The simulation waveform of the threephase armature electric current of double salient-pole electric machine drive system.The same Fig. 5 of simulated conditions.As it can be seen that degree of advance is adaptive
It answers under control technology, when double salient-pole electric machine drive system reaches stable state, in degree of advance section, armature supply rises
To current reference value.
Embodiment is merely illustrative of the invention's technical idea, and this does not limit the scope of protection of the present invention, it is all according to
Technical idea proposed by the present invention, any changes made on the basis of the technical scheme are fallen within the scope of the present invention.
Claims (8)
1. a kind of degree of advance self-adaptation control method of double salient-pole electric machine drive system, it is characterised in that: according to angular region in advance
The deviation of interior maximum feedback electric current and current reference value carrys out the degree of advance in automatic adjusument next electric period: when maximum anti-
When supply current is less than current reference value, increase the degree of advance in next electric period；When maximum feedback electric current is greater than current reference
When value, reduce the degree of advance in next electric period；The incremental computations of degree of advance use iterative algorithm, utilize the current electric period
Advance angle angle value next electric period is estimated according to the deviation of maximum feedback electric current and current reference value in angle range in advance
Advance angle angle value.
2. the degree of advance self-adaptation control method of double salient-pole electric machine drive system according to claim 1, it is characterised in that:
The increment of degree of advance increases with the increase of maximum feedback electric current and the deviation of current reference value, reduces and reduces.
3. the degree of advance self-adaptation control method of double salient-pole electric machine drive system according to claim 2, it is characterised in that:
Different degree of advance is provided each commutating period respectively, is shifted to an earlier date according to the commutating period rotation being presently in using different
Value of the angle as current time degree of advance.
4. the degree of advance self-adaptation control method of double salient-pole electric machine drive system according to claim 3, which is characterized in that
Specific step is as follows:
(1) threephase armature electric current and motor rotor position are detected；
(2) if rotor-position is in degree of advance section, internal feedback electricity in advance angle section is calculated according to threephase armature electric current
The maximum value of stream；
(3) if rotor-position is in non-pre-published angle range, selected according to section locating for rotor-position it is to be calculated from
Adapt to degree of advance；If rotor-position is in [alpha+beta, 120 °] at this time, then degree of advance used in the 1st commutation section is calculated
α1；If rotor-position in [120 °+alpha+beta, 240 °], then calculates the degree of advance α in the 2nd commutation section2；If rotor-position exists
[240 °+alpha+beta, 360 °) in, then calculate the degree of advance α in the 3rd commutation section3；Wherein, α is the advance angle of self adaptive control
Degree, β are constant low-angle value, and alpha+beta is the degree of advance of relative standard's commutation point when inverter down tube is switched on or off；
(4) as step (3) calculated value αjIn preset degree of advance range [0, αmax] when, then by the calculated value α of step (3)j
As the value of degree of advance, otherwise take neighbouring critical value as the value of degree of advance；Wherein, αmaxShift to an earlier date to be preset
Angle maximum value, j=1,2,3.
5. the degree of advance self-adaptation control method of double salient-pole electric machine drive system according to claim 4, which is characterized in that
In step (3), if mod (θ, 120 °) ∈ [alpha+beta, 120 °), then illustrate that rotor-position is in non-pre-published angle range, wherein θ
For rotor-position, mod () indicates complementation of being divided by.
6. the degree of advance self-adaptation control method of double salient-pole electric machine drive system according to claim 4, which is characterized in that
In step (3), αjCalculation formula it is as follows:
αj(m+1)=αj(m)+K[i*-ibk.max(m)]
In above formula, αj(m) and αj(m+1) it is respectively the m times and α that the m+1 times iteration obtainsjValue, ibk.maxIt (m) is feedback current
Maximum value, i*For current reference value, K is the coefficient of item of adding up in iterative algorithm, j=1,2,3.
7. the degree of advance self-adaptation control method of double salient-pole electric machine drive system according to claim 4, which is characterized in that
In step (4), as step (3) calculated value αjBeyond preset degree of advance range [0, αmax] when, if αj< 0, then enable advance angle
Angle value is 0, and otherwise enabling advance angle angle value is αmax。
8. a kind of degree of advance adaptive control system of double salient-pole electric machine drive system, it is characterised in that: controlled including revolving speed
Device, current controller, phase change logic operation module, power tube drive circuit, PWM inverter, degree of advance adaptive controller,
Feedback current computing module, rotary transformer and position decoding device；The output of rotational speed governor is as armature supply reference value；Electricity
Stream controller obtains current chopping signal according to the deviation of current feedback electric current and armature supply reference value；Phase change logic operation
Module patrols current chopping signal and phase change logic according to the value of degree of advance and the phase change logic of angle control strategy
It collects and operation, the on-off for obtaining power tube controls signal；Power tube drive circuit controls signal output according to the on-off of power tube
The driving signal of power tube in PWM inverter；Degree of advance adaptive controller utilizes the degree of advance in current electric period, according to
The deviation of degree of advance section internal feedback current maxima and armature supply reference value iterates to calculate mentioning for next electric period
Preceding angle；Feedback current computing module calculates current feedback electric current according to threephase armature current value；Rotary transformer detects rotor
Location information, the analog quantity that position decoding device detects rotary transformer is converted to digital quantity, and obtains rotor speed, will survey
Input of the deviation of the rotor speed and desired revolving speed that measure as rotational speed governor.
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Families Citing this family (6)
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| CN109088578B (en) * | 2018-08-20 | 2020-06-30 | 珠海格力电器股份有限公司 | Motor control method and system and air conditioner |
| CN109067265A (en) * | 2018-08-20 | 2018-12-21 | 珠海格力电器股份有限公司 | Motor control method, control device and air-conditioning equipment |
| CN112671304B (en) * | 2021-01-14 | 2023-10-03 | 珠海格力电器股份有限公司 | Motor control method and device |
| CN113517842B (en) * | 2021-07-13 | 2024-01-05 | 南京航空航天大学 | Phase current reconstruction method for hybrid excitation doubly salient motor |
| CN113824359B (en) * | 2021-09-10 | 2023-07-04 | 南京信息工程大学 | Advanced angle self-optimizing control method and system for doubly salient motor |
| CN115733414B (en) * | 2022-09-07 | 2023-06-06 | 南京航空航天大学 | Phase-change angle self-optimization method for electro-magnetic doubly-salient motor based on three-phase nine states |
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| JP2009077574A (en) * | 2007-09-21 | 2009-04-09 | Toshiba Microelectronics Corp | Advanced angle controller of motor |
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| CN107070314A (en) * | 2017-04-26 | 2017-08-18 | 南京航空航天大学 | A kind of electric excitation biconvex electrode electric machine shifts to an earlier date angle of overlap self-optimizing control method |
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| JP5535165B2 (en) * | 2011-09-26 | 2014-07-02 | 株式会社東芝 | Semiconductor device and motor drive device |
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| JP2009077574A (en) * | 2007-09-21 | 2009-04-09 | Toshiba Microelectronics Corp | Advanced angle controller of motor |
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| CN104811100A (en) * | 2015-03-31 | 2015-07-29 | 南京航空航天大学 | Double salient electro-magnetic motor asymmetric current control system and method |
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